analog positioning module replaces: 03.04 type vt … · hydraulics bosch rexroth ag 7/12 ......

Analog positioning module

Type VT-MACAS-...

Component series 1X

RE 30050/07.12Replaces: 03.04

Table of contentsContents Page Features 1Ordering code 2Front plate 3Block diagram with pin assignment 4Technical data 5Function 6Electrical connection 7 and 8Adjustment and commissioning 9Error reactions 10Velocity controller adjustment 11Device dimensions 12Project planning / maintenance instructions / additional information 12

Features– Suitable for controlling valves with installed electronics for

position and velocity control– Design: Module for snapping onto carrier rails– Enable input– Cable break detection for actual value cable– Interfaces short-circuit-proof– Test points on front plate– Compensation step that can be switched off– Position: PT1 control– Velocity control possible in connection with tachometer

(speed indicator): PI control– Area adjustment cylinder

Notice:The photo is an example configuration. The delivered product differs from the figure.

1/12

2/12 Bosch Rexroth AG Hydraulics VT-MACAS-... RE 30050/07.12

Ordering code

Preferred typesAmplifier type Material numberVT-MACAS-500-10/V0 0811405139VT-MACAS-500-10/V0/I 0811405140

Hydraulic componentAxis control = AType Controller = CControl Analog = AFunction Position control = S

Optionwithout = Marking

Variant with voltage input I = Variant with current input

Customer versionV0 = Catalog version

1X = Component series 10 to 19 (10 to 19: Unchanged technical data

and pin assignment)Serial number for types

500 = Standard variant without valve amplifier function

VT- M A C A S 500 1X V0

ON

enab

ling

mes

sage

–IN p

osit

ion

gain

ram

p ti

me

zero fe

edb.

+ –

zero

valv

e

+

+

–

–

13 5

137

91115

U

supp

ly 2

4 V=

0V

I4.

..20

mA

U 0V

0V

inpu

t

MAC

AS

TP TP 0

V

sign

al

valv

esi

gnal

sign

alfe

edb.

10 11 12 138 97531

V

642

+U

B

KI KT1

KP

10 V

/ 1

0 V

++

10

V

+

BA

A/B

off

0.1.

..1 s

1...1

0 s

135

137

911 15

135

137

911 15

Sinp.

0.5%

1% off

-0-

act.

pos.

IN

⨍⨍

10 V

/ 1

0 V

++

Hydraulics Bosch Rexroth AGRE 30050/07.12 VT-MACAS-... 3/12

Front plate

Enab

leTP

Com

man

d va

lue

Erro

r UAc

tual

val

ue

Cab

le b

reak

act

ual v

alue

Zero

poi

nt c

alib

ratio

n ac

tual

val

ue

Mes

sage

in p

ositi

on:

Adju

stm

ent a

ctua

l gai

n va

lue

Posi

tion

win

dow

Area

adj

ustm

ent c

ylin

der

Com

pens

atio

n st

ep O

n/O

FF

Ram

p tim

e ra

nges

Zero

poi

nt v

alve

Acce

lera

tions

Switc

h-ov

er v

eloc

ity p

ositi

on c

ontro

ller

Brak

ing

P co

ntro

ller a

djus

tmen

t

I con

trolle

r adj

ustm

ent (

velo

city

con

trol)

or

K T1 c

ontro

ller (

posi

tion

cont

rol)

v zur

.v v

or

v ext

.v r

etr.

ON

–>

+15

V

+–1

5 V

15 V

24 V

U

100 ms...1 s1 s...10 s

+–+ –

+–

PT 1

S/V

4...2

0 m

A

0...

10

V

ON

/OFF

(1)

0...1

0 V

+ –

4...2

0 m

A

0...

10

V

0...1

0 V

0 V

+ –

4...2

0 m

A

0...

10

V

+–0.5%

+–1.0%

(2)

(3)

(4)

(10) (9)

(8)

0 V

PI

1–>1

++

(5)

UI

(7)

–+++

+–

+–(6

)

(12)

(11)

–

UB

⨍⨍

+24

V

0 V

+24

V

0 V


Block diagram with pin assignment

Valv

e si

gnal

and/

or

and/

or

Supp

ly

Com

man

d va

lue

Actu

al v

alue

Enab

le

in p

ositi

on

Posi

tion

or b

raki

ngor

acc

eler

atio

n

Ram

p ge

nera

tor

off

oror

Posi

tion

win

dow

Com

pens

atio

n st

ep

Area

adj

ustm

ent

Bloc

k co

ntro

ller

Erro

r

Velo

city

only

with

com

man

d va

lue

0...±

10 V

Actu

al v

alue

ac

cept

ance

Com

man

d va

lue

Actu

al v

alue

Cab

le b

reak

Zero

poi

ntG

ain

Zero

poi

nt

valv

eG

roun

d

"IN P

OS"

(com

pare

te

chni

cal d

ata)

Bloc

k va

lve

sign

al


Technical data (For applications outside these parameters, please consult us!)

Supply voltage (8), (9)

Nominal 24 V = Battery voltage 21...40 V, Rectified alternating voltage Ueff = 21...28 V (one-phase, full-wave rectifier)

Current consumption, max. mA 200Signal input (1), (2)

VT-MACAS-500-10/V0 Ucommand: ±10 V, differential amplifierRi = 100 kΩ

VT-MACAS-500-10/V0/I Icommand: 4...20 mA Rsh = 200 ΩActual value signal (3), (4)

VT-MACAS-500-10/V0 Uactual: ±10 V, differential amplifierRi = 100 kΩ

VT-MACAS-500-10/V0/I Iactual: 4...20 mA Rsh = 200 ΩValve signal (5), (6, (7))

UV = ±10 V (max. 10 mA) orIV = 4...20 mA (middle 12 mA)

Compensation step Can be switched off; effective in a range of ± 4 %

Enable signal (10) V= 8.5...40 Error message (11) No error: 24 Vnom (UB) max. 50 mA

Error: < 2 VIN POS message (12) IN POS: 24 Vnom (UB) max. 50 mA

Not IN POS: < 2 VRamp ranges I: 0.1 ... 1 s

II: 1 ... 10 sArea adjustmentAK : AR

Min. 1:1; max. 1:4

Actual value adjustment Zero point: –5...10 % Gain: 50...110 %

Controller type Position: PT1Velocity: PI

Zero point valve % ±5Special features – Switchable from position to velocity control

– Switchable position window– Test points on front plate– Interfaces short-circuit-proof

Format/design mm (86 x 110 x 95.5) / moduleMounting Top hat rail TH35-7,5 or G rail G32 according to EN 60715Connection Connectors + terminalsAmbient temperature °C 0...+70Storage temperature range °C –20...+70Weight m 0.38 kg

G

= +

24 V

DC

UB

Σ

+24

V

0 V

+24

V

0 V

+24

V

0 V

+–0...10 V/ 10 V4...20 mA

+–0...10 V/ 10 V4...20 mA

G Σ

= +

24 V

DC

UB

+24

V

0 V

+24

V

0 V

+24

V

0 V

+–0...10 V/ 10 V+

–

4...20 mA

+–0...10 V/ 10 V4...20 mA


Function

ApplicationsBy means of this controller module, simple position or ve-locity controls can be represented in connection with Bosch Rexroth servo cylinders with analog position measurement systems (potentiometer). As the entire signal processing is analog and the module is only equipped with the necessary features for the set-up of controls, the costs for the drive can be kept low. There is moreover the particularity that the module can be internally switched to velocity control (front plate) and one version is in each case offered for voltage in-terface and current interface, referring to the command and actual values.

Position controlCommand and actual value of the position are compared and the deviation is forwarded to the valve amplifier. In case of an abrupt change of the input signal, the system will react with maximum dynamics. The times for accelerating or brak-ing a load are either limited by the available power or the system gain. With a ramp function as input value, the load is moved with a constant velocity.

Velocity control*Command and actual value of the velocity are compared and the deviation is forwarded to the valve amplifier. The si-gnal is amplified by integration so that even smallest errors are compensated.

With a ramp function as input signal, there is a gradual acce-leration and/or deceleration with a constant value.* Only possible with tachometer (speed indicator).

Velocity

Command value

Position

Position

Command value

Enab

leEn

able

in p

ositi

onin

pos

ition

Erro

rEr

ror

Velocity

ON

enablingmessage

–IN position

gain

1312111098765432

v

x

1

0 V

0 V

24 V DC

24 V DC

8,5...40 V DC

0 V

D* D*

*

0 V

24 V

24 V

24 V

0 V

24 V

0 VA

B

C

D

E

0 V0 V

+10 V

–10 V

ramp time

zerofeedb.

+–

zerovalve +

+

–

–

1 3513

7911

15

U

supply 24 V=

I4...20 mA

U

0V

inputsignal

valvesignal

signalfeedb.

10111213

89

7

5

3

1

V

6

4

2

+UB

Usoll

KI

KT1

KP

10 V +

BA

A/B

off0.1...1 s1...10 s

135 137 9 11

15

135 137 9 11

15

S

inp.

0.5% 1%

off-0-

act.pos.IN

⨍⨍

10 V

/ 1

0 V

+

24 V DC nom.

0V

0V10 V/ 10 V + +

10 V/ 10 V + +


Electrical connection

Wiring diagram AVPC-V

free

Actual value

or

D* valve signal for valve with voltage or current interface

4...20 mA

ON

enablingmessage

–IN position

gain

1312111098765432

mA

x

1

24 V DC

24 V DC

8,5...40 V DC

0 V

D* D*

*

0 V

24 V

24 V

24 V

0 V

24 V

0 VA

B

C

D

E

0 V

ramp time

zerofeedb.

+–

zerovalve +

+

–

–

1 3513

7911

15

U

supply 24 V=

I4...20 mA

U

0V

inputsignal

valvesignal

signalfeedb.

10111213

89

7

5

3

1

V

6

4

2

+UB

Isoll

Iset

Iconst.

KI

KT1

KP

10 V +

BA

A/B

off0.1...1 s1...10 s

135 137 9 11

15

135 137 9 11

15

S

inp.

0.5% 1%

off-0-

act.pos.IN

⨍⨍

4...20 mA

4...20 mA

24 V DC

4...20 mA

nom.


Wiring diagram AVPC-mA

D* valve signal for valve with voltage or current interface

free

Actual value

Electrical connection


Adjustment and commissioning

The entire adjustment of the module is carried out at the front plate with operating pressure.

Checking thewiring (page 6)

Mode settings

Controller default setting

Area ratio default setting

Supply voltage ON Enable ON (cl. 10)

Adjustment of the actual value transducer

Adjustment of the valve signal

Controller adjustment

Ramp adjustment

Fine adjustment area adjustment

– Velocity controller/position controller– Compensation step ON / OFF– Position window 0.5 % / 1 %– Ramp ON / OFF

– KP = 1 with position control– KI = 2 / KTI = 1 with velocity control (KI = 1 forbidden)

– Hex switch "A / B"; according to the area ratio of the cylinder

– LED "ON" is illuminated– LED " U" and LED " ʃʃ" are not illuminated

→ otherwise, see error reactions, page 10

– Specification of the command value minimum→ by means of "zero feedb." potentiometer actual value adjustment to 0 V

(TP "act." against TP "⊥")– Specification of the command value maximum (e. g. + 10 V; 20 mA)

→ by means of "gain" potentiometer actual value adjustment to 10 V (TP "act." against TP "⊥")

NoticeAt the 13-pin connection terminal of the module, no measuring devices must be con-nected in order to perform voltage measurements of the actual or command value.

– Enable OFF– Specification of the command value for valve zero position

→ By means of "zero valve" potentiometer adjustment of the valve signal (e. g. cylinder standstill; 0 V at the valve)

– Gradual increase in the KP share, then– Gradual increase in the KTI /KI share– Adjustment aid, page 10

– If ramp function required: Ramp ON → time range pre-selection

– Specification of the command value step (e. g. 20 %...60 %) Setting of the velocity ramps (position) and/or acceleration ramps (velocity) by means of the potentiometer

– Comparison of the chronological sequence s(t) and/or v(t) of both directions of movement by means of an oscilloscope→ by means of hexcode switch "A / B"

compensation of differences


Error reactions

U: Tripping if the value falls below the minimum inter-nal supply voltage⇒ Valve signal 0 V and/or 12 mA;

⇒ Message LED " U" and (11)Possible causes: External supply voltage too low (< 16 V) or internal error (→ repair). ʃʃ: Tripping if the actual value or command value

lines break⇒ Valve signal 0 V and/or 12 mA;

⇒ Message LED "ʃʃ" and (9)

The error is stored.Deletion of the error by switching the enable signal or the supply voltage off and on again.

t

Ideal development (without command value ramps)

t

"Overshooting", P gain too high, → rotate switch KP against 1

t

"Creeping into the position", P gain too low, → rotate switch KP against 16

t

"Vibrations", time constant too small, → rotate switch KT1 against 16

t

"Area ratio wrong"; set symmetric motion sequence by means of switch A/B

Position

Position

Position

Position

Position

sactual

sactual

sactual

sactual

sactual

scommand

scommand

scommand

scommand

scommand


Velocity controller adjustment

V

Ideal development (without command value ramps)

P gain too small, → rotate switch KP against 16

P gain too large, → rotate switch KP against 1

P gain correct, however following error too large, minimization of the following error by means of the I controller → ro-tate switch KI until the min. following error is reached

vactual

vactual

vactual

vactual

vcommand

vcommand

vcommand

vcommand

Minimum

Following error

following error

10 11 12 138 97531 642

ON

74

21,5

110

7,5

5,5

3836

86

110

UB

98


Bosch Rexroth AGHydraulicsZum Eisengießer 197816 Lohr am Main, Germany Phone +49 (0) 93 52 / [email protected]

© This document, as well as the data, specifications and other informa-tion set forth in it, are the exclusive property of Bosch Rexroth AG. It may not be reproduced or given to third parties without its consent.The data specified above only serve to describe the product. No state-ments concerning a certain condition or suitability for a certain applica-tion can be derived from our information. The information given does not release the user from the obligation of own judgment and verification. It must be remembered that our products are subject to a natural process of wear and aging.

Device dimensions (dimensions in mm)

Wall mounting (86 x 110 x 95.5) mm Carrier rail assembly (snap-in)

Project planning / maintenance instructions / additional information– The distance to aerial lines, radios and radar systems must be sufficient (> 1 m).– Do not lay solenoid and signal lines near power cables.– For signal lines and solenoid conductors, we recommend using shielded cables.

The cable shield must be connected to the control cabinet extensively and as short as possible.– The valve solenoid must not be connected to free-wheeling diodes or other protection circuits.

analog positioning module replaces: 03.04 type vt … · hydraulics bosch rexroth ag 7/12 ......

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